I occasionally get the same issue. It ranks as a niggle, rather than a serious problem, as it is never bad enough to totally obscure the display and the proximity sensors also inform me if there's anything close. I plan to get them to look into it whenever the car goes back for any other work.
I agree that it is a niggle in daylight but in darkness as evidenced by the photo below I consider it to be a major safety problem. Interestingly this fogging/ condensation only occurs about ten minutes after commencing driving and appears to be worse in the drivers side.
Having raised this problem with my Genesis Personal Assistant I am now awaiting for my vehicle to be returned to Genesis for replacement cameras to be fitted when available